Cooperative sensing and adaptive behavior of parent-children type robot system in unstructured environment

Author(s):  
T. Shibata ◽  
K. Ohkawa ◽  
K. Tanie
2011 ◽  
Vol 18 (1-2) ◽  
pp. 355-364 ◽  
Author(s):  
Zhong Luo ◽  
Shuxian Yang ◽  
Yilan Sun ◽  
Hongyi Liu

In this paper, the dynamical performance of polishing robot working in unstructured environment is investigated. Structure mechanism and operating principle of a polishing robot are introduced firstly, and its dynamical model is established. Then, a S-shaped acceleration-deceleration path planning method and a human-simulated intelligent control (HSIC) strategy are proposed. The S-shaped acceleration-deceleration path planning method is to switch the magnitude and direction of the abrupt velocities between motion sections in order to improve the work efficiency, the smoothness of movement and the processing accuracy. The HSIC control strategy is built based on the unstructured environment information measured by ultrasonic sensors, in which the appropriate programs prepared in advance are determined according to the size and sign of both the control error and its change rate. Simulation results show that the intelligent control strategy combining with optimum path planning method are effective to reduce the structure vibration, to improve the stability and the control accuracy of the polishing robot system.


Author(s):  
Yifeng Cai ◽  
◽  
Kosuke Sekiyama

Cognitive sharing of objects is fundamental in a heterogeneous robot system composed of a Unmanned Aerial Vehicle and a ground robot. Since the viewpoint of a UAV is greatly different from a ground robot, they may have different perceptions about the same objects. That makes it difficult to realize cognitive sharing. In this paper, we proposed a cognitive sharing method which is based on Geometric Relation-based Triangle Representations. The method is able to make a UAV and a ground robot identify the same object from similar objects without sharing appearance information in unstructured environment. To copy with the problem of increasing computational cost for the recognition of objects in the Region of Interest, entropy evaluation is employed to evaluate and select unique representations. We illustrated the proposed method with robots in real world.


2020 ◽  
Vol 51 (4) ◽  
pp. 1139-1155
Author(s):  
Jenny M. Burton ◽  
Nancy A. Creaghead ◽  
Noah Silbert ◽  
Allison Breit-Smith ◽  
Amie W. Duncan ◽  
...  

Purpose The purpose of this study was to characterize social communication and structural language of school-age girls with high-functioning autism spectrum disorder (HF-ASD) compared to a matched group of girls who are typically developing (TD). Method Participants were 37 girls between 7;5 and 15;2 (years;months)—18 HF-ASD and 19 TD. Children completed the Test of Pragmatic Language–Second Edition (TOPL-2) and Clinical Evaluation of Language Fundamentals–Fifth Edition. Parents completed the Children's Communication Checklist–2 United States Edition (CCC-2) and Receptive and Expressive Communication subdomains of the Vineland Adaptive Behavior Scales–Second Edition. Results In the area of social communication, girls with HF-ASD earned significantly lower scores and were more often classified as having an impairment on the TOPL-2 and the CCC-2. However, 28% and 33% earned average scores on the TOPL-2 and the CCC-2, respectively. In the area of structural language, no significant differences were found between groups on Clinical Evaluation of Language Fundamentals–Fifth Edition indexes. In contrast, girls with HF-ASD earned significantly lower scores and were more often classified as having an impairment on the Vineland Adaptive Behavior Scales–Second Edition. Sixty-one percent and 83% scored below average on the Receptive and Expressive Communication subdomains, respectively. Conclusions It has been argued that girls with HF-ASD, when compared to boys with HF-ASD, may have advantages for social communication and structural language that mask their impairments. However, when compared to girls who are TD, girls with HF-ASD demonstrated impaired social communication and structural language. Clinicians should include and carefully examine multiple sources of information when assessing girls with HF-ASD.


1990 ◽  
Author(s):  
Judy Howard ◽  
◽  
Leila Beckwith ◽  
Carol Rodning
Keyword(s):  

2010 ◽  
Author(s):  
Rebecca D. Stinson ◽  
Zachary Sussman ◽  
Megan Foley Nicpon ◽  
Allison L. Allmon ◽  
Courtney Cornick ◽  
...  

2012 ◽  
Author(s):  
Shirley Zeitlin ◽  
G. Gordon Williamson ◽  
Margery Szczepanski

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